Modares Mechanical Engineering

Modares Mechanical Engineering

Potentially Directed Robust Control of an Underwater Robot in the Presence of Obstacles

Authors
Fahimeh S. Tabataba’i-Nasab 1
Ali Keymasi Khalaji 2
1 Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
2 Assistant Professor, Kharazmi University
Abstract
In this paper, a new controller is presented based on robust feedback linearization controller in combination with integral-exponential error dynamics and potential functions for tracking control of an underwater robot in an obstacle-rich environment. Underwater robots are considered as nonlinear, underactuated systems with indefinite, uncertain dynamics. In this research, by assuming a boundary for external disturbances and uncertainties a proposed robust control method has been put to use. Along with the robust feedback linearization algorithm which has been developed based on the dynamics of the nonlinear error defined for the underwater robot, and in order to avoid the obstacles, the control laws are combined with the virtual potential functions. The considered virtual potential functions make a repulsive force between the robot and the obstacles which intersect the desired path and then they bring about a safe move of the robot in obstacle-rich environments. Finally, the performance of the proposed new control algorithm is compared with the results of the implementation of classical sliding mode control laws. The results show the effectiveness of potentially directed proposed controller through obstacle-rich paths which operate far better facing obstacles.
Keywords
"Underwater Robot"
"Robust Feedback Linearization Controller"
"Sliding Mode Controller"
"Potential Function"
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Modares Mechanical Engineering
Volume 18, Issue 3
May 2018
Pages 1-8